beaglebone blue: build librobotcontrol with cmake

boards/beaglebone/blue/CMakeLists.txt

@@ -1,6 +1,6 @@
 ############################################################################
 #
-#   Copyright (c) 2018 PX4 Development Team. All rights reserved.
+#   Copyright (c) 2018-2019 PX4 Development Team. All rights reserved.
 #
 # Redistribution and use in source and binary forms, with or without
 # modification, are permitted provided that the following conditions
@@ -33,7 +33,6 @@
 
 add_subdirectory(bbblue_adc)
 
-
 ############################################################################
 # Upload
 ############################################################################

boards/beaglebone/blue/bbblue_adc/CMakeLists.txt

@@ -1,6 +1,6 @@
 ############################################################################
 #
-#   Copyright (c) 2018 PX4 Development Team. All rights reserved.
+#   Copyright (c) 2018-2019 PX4 Development Team. All rights reserved.
 #
 # Redistribution and use in source and binary forms, with or without
 # modification, are permitted provided that the following conditions
@@ -35,17 +35,6 @@ px4_add_module(
 	MODULE drivers__bbblue_adc
 	MAIN bbblue_adc
 	COMPILE_FLAGS
-		-Wno-error
 	SRCS
 		bbblue_adc.cpp
-		
-		# Previous board specific code is now precluded from build after
-		# the following was added to Frimware/CMakeLists.txt:
-		#
-		# 		add_subdirectory(src/drivers/boards EXCLUDE_FROM_ALL)
-		#
-		# so include bbblue board specific code here:
-		../src/init.c
-	DEPENDS
-
 )

boards/beaglebone/blue/cross.cmake

@@ -11,6 +11,7 @@ px4_add_board(
 		#barometer # all available barometer drivers
 		barometer/bmp280
 		batt_smbus
+		camera_capture
 		camera_trigger
 		differential_pressure # all available differential pressure drivers
 		distance_sensor # all available distance sensor drivers

boards/beaglebone/blue/init.cmake

@@ -0,0 +1,56 @@
+############################################################################
+#
+#   Copyright (c) 2018-2019 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+
+add_compile_options(-Wno-cast-align)
+
+include(ExternalProject)
+ExternalProject_Add(librobotcontrol
+	GIT_REPOSITORY https://github.com/dagar/librobotcontrol.git
+	GIT_TAG 1abcb0a # latest as of 2019-12-29
+	CMAKE_CACHE_ARGS -DCMAKE_TOOLCHAIN_FILE:STRING=${CMAKE_TOOLCHAIN_FILE}
+	INSTALL_COMMAND ""
+	TEST_COMMAND ""
+	LOG_DOWNLOAD ON
+	LOG_CONFIGURE ON
+	LOG_BUILD ON
+)
+
+ExternalProject_Get_Property(librobotcontrol install_dir)
+set(ROBOTCONTROL_LIB_DIR ${install_dir}/src/librobotcontrol-build/library)
+set(ROBOTCONTROL_INC_DIR ${install_dir}/src/librobotcontrol/library/include)
+
+include_directories(${ROBOTCONTROL_INC_DIR})
+link_directories(${ROBOTCONTROL_LIB_DIR})
+
+# add to prebuild
+add_dependencies(prebuild_targets librobotcontrol)

boards/beaglebone/blue/native.cmake

@@ -9,6 +9,7 @@ px4_add_board(
 		#barometer # all available barometer drivers
 		barometer/bmp280
 		batt_smbus
+		camera_capture
 		camera_trigger
 		differential_pressure # all available differential pressure drivers
 		distance_sensor # all available distance sensor drivers

boards/beaglebone/blue/src/CMakeLists.txt

@@ -1,6 +1,6 @@
 ############################################################################
 #
-#   Copyright (c) 2018 PX4 Development Team. All rights reserved.
+#   Copyright (c) 2018-2019 PX4 Development Team. All rights reserved.
 #
 # Redistribution and use in source and binary forms, with or without
 # modification, are permitted provided that the following conditions
@@ -30,10 +30,8 @@
 # POSSIBILITY OF SUCH DAMAGE.
 #
 ############################################################################
-set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -Wno-error")
-set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wno-error")
 
-add_library(drivers_board
-	init.c
+px4_add_library(drivers_board
+	init.cpp
 )
-
+target_link_libraries(drivers_board PRIVATE robotics_cape)